Template:EncoderPinoutD15 - Revision history

Tero K at 12:57, 9 October 2020

2020-10-09T12:57:04Z

Esa at 09:04, 9 October 2020

2020-10-09T09:04:29Z

Esa at 08:57, 9 October 2020

2020-10-09T08:57:39Z

Esa at 08:53, 9 October 2020

2020-10-09T08:53:12Z

Esa at 10:56, 23 April 2018

2018-04-23T10:56:12Z

Esa at 10:53, 23 April 2018

2018-04-23T10:53:55Z

Tero K at 12:55, 30 June 2017

2017-06-30T12:55:21Z

Tero K at 12:32, 30 June 2017

2017-06-30T12:32:29Z

Tero K: Created page with "{| class="wikitable" |- ! Pin # !! Pin name !! Electrical type (in most feedback device modes) || Alternate electrical type (in some feedback device modes, i.e. SinCos encoder..."

2017-06-21T22:58:50Z

Created page with "{| class="wikitable" |- ! Pin # !! Pin name !! Electrical type (in most feedback device modes) || Alternate electrical type (in some feedback device modes, i.e. SinCos encoder..."

New page

{| class="wikitable"
|-
! Pin # !! Pin name !! Electrical type (in most feedback device modes) || Alternate electrical type (in some feedback device modes, i.e. SinCos encoder) || Connection with various feedback devices
|-
| Shell|| class="powpin" |GND|| colspan="2" |Earth/case || Feedback cable shield
|-
| 1|| class="inpin" |HALL_W|| colspan="2" |Digital input W || Hall sensor input, phase W
|-
| 2|| class="inpin" |HALL_V|| colspan="2" |Digital input V ||Hall sensor input, phase V
|-
| 3|| class="inpin" |HALL_U|| colspan="2" |Digital input U || Hall sensor input, phase U
|-
| 4|| class="powpin" |GND|| colspan="2" |Encoder supply ground
|-
| 5|| class="inpin" |B-||Differential input B-|| SinCos input B-|| rowspan="2" |Quadrature encoder (B channel)/SinCos/serial encoder/resolver input
|-
| 6|| class="inpin" |B+||Differential input B+|| SinCos input B+
|-
| 7|| class="inpin" |A-||Differential input A-|| SinCos input A-|| rowspan="2" |Quadrature encoder (A channel)/SinCos/serial encoder/resolver input
|-
| 8|| class="inpin" |A+||Differential input A+|| SinCos input A+
|-
| 9|| class="powpin" |5V_OUT|| colspan="2" |Encoder supply 5V output || rowspan="2" |Encoder power supply
|-
| 10|| class="powpin" |GND || colspan="2" |Encoder supply ground
|-
| 11|| class="inpin" |GPI3|| colspan="2" |Axis negative direction end limit switch (optional)|| Connect normally closed (NC) limit switch between this pin and GND pin
|-
| 12|| class="inpin" |GPI2|| colspan="2" |Axis positive direction end limit switch (optional)|| Connect normally closed (NC) limit switch between this pin and GND pin
|-
| 13|| class="inpin" |GPI1|| colspan="2" |Axis home switch switch (optional)|| Connect normally closed (NC) limit switch between this pin and GND pin
|-
| 14|| class="inpin" |C-|| colspan="2" |Differential input C- || rowspan="2" |Quadrature encoder index channel (Z channel)/serial encoder input
|-
| 15|| class="inpin" | C+|| colspan="2" |Differential input C+
|}

@@ Line 25: / Line 25: @@
 | 10|| class="powpin" |GND || colspan="6" | Encoder supply ground
 |-
-| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA- || Clock- || CLK
+| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed with {{param|LSP}}. || Clock/MA- || Clock- || CLK
 |-
-| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional).Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA+ || Clock+ || CSn
+| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional).Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed with {{param|LSP}}. || Clock/MA+ || Clock+ || CSn
 |-
-| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Goals tab in Homing section. || DO
+| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed with {{param|HMS}}. || DO
 |-
 | 14|| class="inpin" |C-|| Differential input C- || Index channel Z- || Index channel Z+ || Data/SLO- || Data- || -

@@ Line 25: / Line 25: @@
 | 10|| class="powpin" |GND || colspan="6" | Encoder supply ground
 |-
-| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional).<br /> Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used,<br /> and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA- || Clock- || CLK
+| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA- || Clock- || CLK
 |-
-| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional).<br /> Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin.<br /> Normally open (NO) switch can be used,<br /> and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA+ || Clock+ || CSn
+| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional).Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA+ || Clock+ || CSn
 |-
-| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional).<br /> Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used,<br /> and the switch polarity can be changed in Granity/Goals tab in Homing section. || DO
+| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Goals tab in Homing section. || DO
 |-
 | 14|| class="inpin" |C-|| Differential input C- || Index channel Z- || Index channel Z+ || Data/SLO- || Data- || -

@@ Line 25: / Line 25: @@
 | 10|| class="powpin" |GND || colspan="6" | Encoder supply ground
 |-
-| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA- || Clock- || CLK
+| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional).<br /> Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used,<br /> and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA- || Clock- || CLK
 |-
-| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA+ || Clock+ || CSn
+| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional).<br /> Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin.<br /> Normally open (NO) switch can be used,<br /> and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA+ || Clock+ || CSn
 |-
-| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Goals tab in Homing section. || DO
+| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional).<br /> Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used,<br /> and the switch polarity can be changed in Granity/Goals tab in Homing section. || DO
 |-
 | 14|| class="inpin" |C-|| Differential input C- || Index channel Z- || Index channel Z+ || Data/SLO- || Data- || -

@@ Line 25: / Line 25: @@
 | 10|| class="powpin" |GND || colspan="6" | Encoder supply ground
 |-
-| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || Clock/MA- || Clock- || CLK
+| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA- || Clock- || CLK
 |-
-| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || Clock/MA+ || Clock+ || CSn
+| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA+ || Clock+ || CSn
 |-
-| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || DO
+| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Normally closed (NC) switch is highly recommended for safety reasons. Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Goals tab in Homing section. || DO
 |-
 | 14|| class="inpin" |C-|| Differential input C- || Index channel Z- || Index channel Z+ || Data/SLO- || Data- || -

@@ Line 35: / Line 35: @@
 | 15|| class="inpin" | C+|| Differential input C+ || Index channel Z+ || Index channel Z+ || Data/SLO+ || Data+ || -
 |-
-| Pin layout || colspan=4 | Female D-sub 15 connector as it appears from outside of drive. Note: counterpart (male) connector has mirrored pin layout if viewed from pin side, and same layout if viewed from soldering side.
+| Pin layout || colspan = 7 | Female D-sub 15 connector as it appears from outside of drive. Note: counterpart (male) connector has mirrored pin layout if viewed from pin side, and same layout if viewed from soldering side.
 [[File:d15_pinout.png|frameless|500x500px]]
 |}

@@ Line 1: / Line 1: @@
 {| class="wikitable"
 |-
-! Pin # !! Pin name !! Electrical type (in most feedback device modes) || Alternate electrical type (in some feedback device modes, i.e. SinCos encoder) || Connection with various feedback devices
+! Pin # !! Pin name !! Electrical type (in most feedback device modes) ||Quadrature encoder|| SinCos encoder || BiSS-C encoder || SSI encoder || AMS SSI encoder
 |-
-| Shell|| class="powpin" |GND|| colspan="2" |Earth/case  || Feedback cable shield
+| Shell|| class="powpin" |GND|| colspan="6" |Earth/case
 |-
-| 1|| class="inpin" |HALL_W|| colspan="2" |Digital input W ||  Hall sensor input, phase W
+| 1|| class="inpin" |HALL_W|| colspan="3" |Hall sensor digital input, phase W || - || - || -
 |-
-| 2|| class="inpin" |HALL_V|| colspan="2" |Digital input V  ||Hall sensor input, phase V
+| 2|| class="inpin" |HALL_V|| colspan="3" |Hall sensor digital input, phase V || - || - || -
 |-
-| 3|| class="inpin" |HALL_U|| colspan="2" |Digital input U || Hall sensor input, phase U
+| 3|| class="inpin" |HALL_U|| colspan="3" |Hall sensor digital input, phase U || - || - || -
 |-
-| 4|| class="powpin" |GND|| colspan="2" |Encoder supply ground
+| 4|| class="powpin" |GND|| colspan="6" |Encoder supply ground
 |-
-| 5|| class="inpin" |B-||Differential input B-|| SinCos input B-|| rowspan="2" |Quadrature encoder (B channel)/SinCos/serial encoder/resolver input
+| 5|| class="inpin" |B-||Differential input B-|| Channel B- || SinCos input B- || - || - || -
 |-
-| 6|| class="inpin" |B+||Differential input B+|| SinCos input B+
+| 6|| class="inpin" |B+||Differential input B+ || Channel B+ || SinCos input B+ || - || - || -
 |-
-| 7|| class="inpin" |A-||Differential input A-|| SinCos input A-|| rowspan="2" |Quadrature encoder (A channel)/SinCos/serial encoder/resolver input
+| 7|| class="inpin" |A-||Differential input A- || Channel A- || SinCos input A- || - || - || -
 |-
-| 8|| class="inpin" |A+||Differential input A+|| SinCos input A+
+| 8|| class="inpin" |A+||Differential input A+ || Channel A+ || SinCos input A+ || - || - || -
 |-
-| 9|| class="powpin" |5V_OUT|| colspan="2" |Encoder supply 5V output  || rowspan="2" |Encoder power supply
+| 9|| class="powpin" |5V_OUT|| colspan="6" | Encoder supply 5V output
 |-
-| 10|| class="powpin" |GND || colspan="2" |Encoder supply ground
+| 10|| class="powpin" |GND || colspan="6" | Encoder supply ground
 |-
-| 11|| class="inpin" |GPI3|| colspan="2" |Axis negative direction end limit switch (optional)|| Connect normally closed (NC) limit switch between this pin and GND pin
+| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || Clock/MA- || Clock- || CLK
 |-
-| 12|| class="inpin" |GPI2|| colspan="2" |Axis positive direction end limit switch (optional)|| Connect normally closed (NC) limit switch between this pin and GND pin
+| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || Clock/MA+ || Clock+ || CSn
 |-
-| 13|| class="inpin" |GPI1|| colspan="2" |Axis home switch switch (optional)|| Connect normally closed (NC) limit switch between this pin and GND pin
+| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Connect normally closed (NC) limit switch between this pin and GND pin. || DO
 |-
-| 14|| class="inpin" |C-|| colspan="2" |Differential input C- || rowspan="2" |Quadrature encoder index channel (Z channel)/serial encoder input
+| 14|| class="inpin" |C-|| Differential input C- || Index channel Z- || Index channel Z+ || Data/SLO- || Data- || -
 |-
-| 15|| class="inpin" | C+|| colspan="2" |Differential input C+
+| 15|| class="inpin" | C+|| Differential input C+ || Index channel Z+ || Index channel Z+ || Data/SLO+ || Data+ || -
 |-
 | Pin layout || colspan=4 | Female D-sub 15 connector as it appears from outside of drive. Note: counterpart (male) connector has mirrored pin layout if viewed from pin side, and same layout if viewed from soldering side.

← Older revision		Revision as of 12:32, 30 June 2017
Line 35:		Line 35:
	\| 15\|\| class="inpin" \| C+\|\| colspan="2" \|Differential input C+		\| 15\|\| class="inpin" \| C+\|\| colspan="2" \|Differential input C+
	\|}		\|}
		+	==== Encoder connector pin layout ====
		+	Female D-sub 15 connector as it appears from outside of drive. Note: counterpart (male) connector has mirrored pin layout if viewed from pin side, and same layout if viewed from soldering side.
		+
		+	[[File:d15_pinout.png\|frameless\|500x500px]]